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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="class_trajectory_generator_diff_drive-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">TrajectoryGeneratorDiffDrive Class Reference</div>  </div>
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<p>Class for generating optimized trajectory.  
 <a href="class_trajectory_generator_diff_drive.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="trajectory__generator__diff__drive_8h_source.html">trajectory_generator_diff_drive.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a939072bc45d395d921f9d0cbc8b996bc"><td class="memItemLeft" align="right" valign="top"><a id="a939072bc45d395d921f9d0cbc8b996bc"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#a939072bc45d395d921f9d0cbc8b996bc">TrajectoryGeneratorDiffDrive</a> (void)</td></tr>
<tr class="memdesc:a939072bc45d395d921f9d0cbc8b996bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contructor. <br /></td></tr>
<tr class="separator:a939072bc45d395d921f9d0cbc8b996bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf1ecee3f5b1c040f7996c82d18bac9d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#abf1ecee3f5b1c040f7996c82d18bac9d">set_optimization_param</a> (const double, const double, const double)</td></tr>
<tr class="memdesc:abf1ecee3f5b1c040f7996c82d18bac9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set optimization parameters used in optimization.  <a href="class_trajectory_generator_diff_drive.html#abf1ecee3f5b1c040f7996c82d18bac9d">More...</a><br /></td></tr>
<tr class="separator:abf1ecee3f5b1c040f7996c82d18bac9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04aec94601d78021e3ebe213c838ae07"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#a04aec94601d78021e3ebe213c838ae07">set_motion_param</a> (const double, const double, const double, const double, const double, const double)</td></tr>
<tr class="memdesc:a04aec94601d78021e3ebe213c838ae07"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set motion parameters.  <a href="class_trajectory_generator_diff_drive.html#a04aec94601d78021e3ebe213c838ae07">More...</a><br /></td></tr>
<tr class="separator:a04aec94601d78021e3ebe213c838ae07"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a20fcfdb1529a0be196c53f01c1c75b6b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#a20fcfdb1529a0be196c53f01c1c75b6b">set_verbose</a> (bool)</td></tr>
<tr class="memdesc:a20fcfdb1529a0be196c53f01c1c75b6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set verbose output.  <a href="class_trajectory_generator_diff_drive.html#a20fcfdb1529a0be196c53f01c1c75b6b">More...</a><br /></td></tr>
<tr class="separator:a20fcfdb1529a0be196c53f01c1c75b6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbac15c69a69a2b5bd3a02805a7ac1c5"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#adbac15c69a69a2b5bd3a02805a7ac1c5">generate_optimized_trajectory</a> (const Eigen::Vector3d &amp;, const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;, const double, const double, const int, <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;, <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &amp;)</td></tr>
<tr class="memdesc:adbac15c69a69a2b5bd3a02805a7ac1c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate Optimized trajectory.  <a href="class_trajectory_generator_diff_drive.html#adbac15c69a69a2b5bd3a02805a7ac1c5">More...</a><br /></td></tr>
<tr class="separator:adbac15c69a69a2b5bd3a02805a7ac1c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1840e434a390a49e6eb9597227d0c95a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#a1840e434a390a49e6eb9597227d0c95a">get_jacobian</a> (const double, const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;, const Eigen::Vector3d &amp;, Eigen::Matrix3d &amp;)</td></tr>
<tr class="memdesc:a1840e434a390a49e6eb9597227d0c95a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate jacobian.  <a href="class_trajectory_generator_diff_drive.html#a1840e434a390a49e6eb9597227d0c95a">More...</a><br /></td></tr>
<tr class="separator:a1840e434a390a49e6eb9597227d0c95a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee1b2f18deef53b939b5f4a7257dd02e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_trajectory_generator_diff_drive.html#aee1b2f18deef53b939b5f4a7257dd02e">calculate_scale_factor</a> (double, double, const Eigen::Vector3d &amp;, Eigen::Vector3d &amp;, <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;, <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &amp;, Eigen::Vector3d &amp;)</td></tr>
<tr class="memdesc:aee1b2f18deef53b939b5f4a7257dd02e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search coefficient to reduce cost.  <a href="class_trajectory_generator_diff_drive.html#aee1b2f18deef53b939b5f4a7257dd02e">More...</a><br /></td></tr>
<tr class="separator:aee1b2f18deef53b939b5f4a7257dd02e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class for generating optimized trajectory. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="aee1b2f18deef53b939b5f4a7257dd02e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aee1b2f18deef53b939b5f4a7257dd02e">&#9670;&nbsp;</a></span>calculate_scale_factor()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void TrajectoryGeneratorDiffDrive::calculate_scale_factor </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>tolerance</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>goal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>cost</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &amp;&#160;</td>
          <td class="paramname"><em>trajectory</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>dp</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Search coefficient to reduce cost. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>[s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tolerance</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">goal</td><td>(x, y, yaw) </td></tr>
    <tr><td class="paramdir">[in,out]</td><td class="paramname">cost</td><td>Optimization cost </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">trajectory</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">dp</td><td></td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="adbac15c69a69a2b5bd3a02805a7ac1c5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adbac15c69a69a2b5bd3a02805a7ac1c5">&#9670;&nbsp;</a></span>generate_optimized_trajectory()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double TrajectoryGeneratorDiffDrive::generate_optimized_trajectory </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>goal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;&#160;</td>
          <td class="paramname"><em>init_control_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>tolerance</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>max_iteration</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &amp;&#160;</td>
          <td class="paramname"><em>trajectory</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generate Optimized trajectory. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">goal</td><td>(x, y, yaw) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">init_control_param</td><td>Initial value of ControlParams </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>[s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tolerance</td><td>Optimization cost tolerance </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_iteration</td><td>Max number of optimization loop </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>Optimized control parameters </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">trajectory</td><td>Optimized trajectory </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a1840e434a390a49e6eb9597227d0c95a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1840e434a390a49e6eb9597227d0c95a">&#9670;&nbsp;</a></span>get_jacobian()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void TrajectoryGeneratorDiffDrive::get_jacobian </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;&#160;</td>
          <td class="paramname"><em>control</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>h</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>j</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculate jacobian. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>[s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">control</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">h</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">j</td><td>Jacobian </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a04aec94601d78021e3ebe213c838ae07"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a04aec94601d78021e3ebe213c838ae07">&#9670;&nbsp;</a></span>set_motion_param()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void TrajectoryGeneratorDiffDrive::set_motion_param </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_yawrate</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_d_yawrate</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_acceleration</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_wheel_angular_velocity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>wheel_radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>tread</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set motion parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_yawrate</td><td>[rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_d_yawrate</td><td>[rad/ss] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration</td><td>[m/ss] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_wheel_angular_velocity</td><td>[rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">wheel_radius</td><td>[m] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tread</td><td>[m] </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="abf1ecee3f5b1c040f7996c82d18bac9d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abf1ecee3f5b1c040f7996c82d18bac9d">&#9670;&nbsp;</a></span>set_optimization_param()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void TrajectoryGeneratorDiffDrive::set_optimization_param </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dkm</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dkf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dsf</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set optimization parameters used in optimization. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dkm</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">dkf</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">dsf</td><td></td></tr>
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  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a20fcfdb1529a0be196c53f01c1c75b6b">&#9670;&nbsp;</a></span>set_verbose()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void TrajectoryGeneratorDiffDrive::set_verbose </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>verbose_</em></td><td>)</td>
          <td></td>
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<p>Set verbose output. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">verbose_</td><td>If true, verbose output is enabled </td></tr>
  </table>
  </dd>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/trajectory_generator/<a class="el" href="trajectory__generator__diff__drive_8h_source.html">trajectory_generator_diff_drive.h</a></li>
<li>src/trajectory_generator_diff_drive.cpp</li>
</ul>
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